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First of all, warning shots are a bad idea because the bullet will end up somewhere it should not be. Secondly, police are trained not to fire their guns unless they absolutely need to; being able to fire a "warning shot" indicates you are not really in enough danger.
Police are not trained to shoot at the legs, at the arms, at the guns, at bystanders, at trees that might be persuaded to fall on the suspect. They are trained to shoot at the center of mass until the threat is ended, and if the threat is still rolling around on the ground grabbing at things the threat is not ended. Do you really expect them to "shoot once and check"?
Cruiser doors are not invincible bastions of strength. It is quite possible that both the police and the suspect's weapons could shoot right through them, certainly the glass part would not stop a bullet. Even if they could effectively hide behind their doors, the suspect was armed and moving. What if he was to run into a building and find a hostage?
The police did the right thing by shooting the guy, and while I admit that it is too bad it took lethal force to stop him it is not like he was not given a chance.
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